Abstract The performance of all navigation and tracking algorithms for road-bound vehicles can be improved by utilizing the trajectory constraint imposed from the road network. We refer to this approach as road-assisted navigation and tracking. Further, we refer to the process of incorporating the road constraint into the standard filter algorithms by dynamic map matching. Basically, dynamic map matching can be done in three different ways: (1) as a virtual measurement, (2) as a state noise constraint, or (3) as a manifold estimation problem where the state space is reduced. Besides this basic choice of approach, we survey the field from various perspectives: which filter that is applied, which dynamic model that is used to describe the motion of the vehicle, and which sensors that are used and their corresponding sensor models. Various applications using real data are presented as illustrations.
Navigation and Tracking of Road-Bound Vehicles Using Map Support
Handbook of Intelligent Vehicles ; 397-434
2012-01-01
38 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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